function output(fresult,cbn_k,v_kn,position_k,time_k)
%UNTITLED3 此处提供此函数的摘要
%   此处提供详细说明
latitude   =rad2deg(position_k(1));
longitude  =rad2deg(position_k(2));
h          =position_k(3);
vN    =v_kn(1);
vE    =v_kn(2);
vD    =v_kn(3);
phi      =rad2deg(atan(cbn_k(3,2)/cbn_k(3,3)));
theta    =rad2deg(atan(-cbn_k(3,1)/sqrt(cbn_k(3,2)^2+cbn_k(3,3)^2)));
psi      =rad2deg(atan(cbn_k(2,1)/cbn_k(1,1)));
%psi      =psi + 180;

fprintf(fresult, '%.3f %14.10f %14.10f %14.10f %14.10f %14.10f %14.10f %14.9f %14.9f %14.9f\n',time_k,latitude,longitude,h,vN,vE,vD,phi,theta,psi);


end